import rospy

class Ros(object):
    def __init__(self):
        super(Ros, self).__init__()
        self.cameraIntrinsicCalibrationUrl = ''
        self.calibrationInfoUrl = ''
    def ros_init(self):
        rospy.init_node('camera_calibrate_hand_eye')
        #rospy.loginfo("==========>START Camera Hand Eye Calibration, press keys on IMAGE WINDOW: [Enter]:add data [Esc]:exit<==========")
        isEyeInHand = False
        isEyeInHand = rospy.get_param("camera_calibrate_hand_eye/isEyeInHand", isEyeInHand)
        cameraIntrinsicCalibrationUrl = rospy.get_param("camera_calibrate_hand_eye/camera_intrinsic_calibration_url", self.cameraIntrinsicCalibrationUrl)
        if(isEyeInHand):
            calibrationInfoUrl = rospy.get_param("camera_calibrate_hand_eye/eyeInHand_calibration_url", self.calibrationInfoUrl)
            print('eyeInHand_calibration_url',calibrationInfoUrl)
        else:
            calibrationInfoUrl = rospy.get_param("camera_calibrate_hand_eye/eyeToHand_calibration_url", self.calibrationInfoUrl)
            print('eyeInHand_calibration_url',calibrationInfoUrl)
        #rospy.loginfo("Camera Fix Type: [ %s ]", isEyeInHand and "Eye In Hand" or "Eye To Hand")
        return isEyeInHand, cameraIntrinsicCalibrationUrl, calibrationInfoUrl
